STABILITY ANALYSIS OF A ROBUST PD CONTROL LAW FOR ROBOT MANIPULATORS

The purpose of this article is to examine the stability of a robust an d decentralized PD control law for robot manipulator control. The cont rol law, which was developed by the authors, has been shown experiment ally to be extremely simple to implement and highly accurate for posit ion and force tracking in the presence of robot model uncertainty and payload variation. However, stability analysis has been difficult due to the nonlinearity of robot dynamics and the use of time-delayed meas urements of joint torques and joint accelerations in the control law. A rigorous stability analysis is presented in this article using Popov 's hyperstability theory. A sufficient condition for global stability is obtained that supports previous theoretical and experimental result s. (C) 1996 John Wiley & Sons, Inc.